Retrieval devices and related methods of use

ABSTRACT

A retrieval device may have a contracted state and an expanded state. The retrieval device may include a sheath and at least three support members. Each of the support members may have a first portion with a first cross-sectional shape and a second portion with a second cross-sectional shape different from the first cross-sectional shape. A proximal end fixed of each of the support members may be coupled to the sheath, and a distal end may be movable relative to the sheath. The retrieval device may further include at least three movable members movable relative to the support members. Each movable member may extend through a lumen of one support member of the at least three support members and through a lumen of a different support member of the at least three support members.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application claims the benefit of priority under 35 U.S.C. §119 to U.S. Provisional Patent Application No. 62/186,718, filed Jun.30, 2015, which is herein incorporated by reference in its entirety.

TECHNICAL FIELD

Various examples of the present disclosure relate generally to retrievaldevices and related systems and methods. More specifically, the presentdisclosure relates to devices, systems, and methods for retrievingobjects within a patient.

BACKGROUND

Retrieval devices are often used to remove organic material (e.g., bloodclots, tissue, and biological concretions such as urinary, biliary, andpancreatic stones) and inorganic material (e.g., components of a medicaldevice or other foreign matter), which may obstruct or otherwise bepresent within a patient's body cavities or passages. For example,concretions can develop in certain parts of the body, such as in thekidneys, pancreas, ureter, and gallbladder. Minimally invasive medicalprocedures are used to remove these concretions through naturalorifices, or through an incision, such as during a percutaneousnephrolithotomy (“PNCL”) procedure. Further, lithotripsy andureteroscopy, for example, are used to treat urinary calculi (e.g.,kidney stones) in the ureter of a patient.

Retrieval devices may include end effectors for manipulating objects. Anexemplary end effector may have a plurality of arms that support a frontloop that forms when the end effector is opened. The size of the frontloop may limit the size of an object that can be captured, repositioned,and/or released from the end effector. For some procedures, there may bea need to increase the size of a front loop of an end effector tofacilitate the capturing, repositioning, and/or releasing of largerobjects. It may also be desirable to have an end effector close backdown to a low-profile state to facilitate insertion and withdrawal ofthe end effector into and from a target area, and/or to capture,reposition, and/or release smaller objects. Further, during a procedure,one or more portions of the front loop may entangle with one anotherthereby distorting the end effector and potentially reducing itseffectiveness and life span. Thus, there remains a need for retrievaldevices with improved capabilities.

Further, known medical retrieval devices are complex, requiring manycomponents and/or labor-intensive manufacturing processes. The assemblyof small parts often requires visual magnification and specializedtraining. The available joining mechanisms can increase the profile ofthe medical retrieval devices beyond optimal design parameters, and maybe the weakest structural points. These drawbacks can result in medicalretrieval devices that are bulky, expensive, and prone to failure.

The systems and methods of the current disclosure may address some ofthe deficiencies described above and/or other problems in the art.

SUMMARY

In one example, a retrieval device may have a contracted state and anexpanded state. The retrieval device may include a sheath and at leastthree support members. Each of the support members may have a firstportion with a first cross-sectional shape and a second portion with asecond cross-sectional shape different from the first cross-sectionalshape. A proximal end fixed of each of the support members may becoupled to the sheath, and a distal end may be movable relative to thesheath. The retrieval device may further include at least three movablemembers movable relative to the support members. Each movable member mayextend through a lumen of one support member of the at least threesupport members and through a lumen of a different support member of theat least three support members.

The retrieval device may additionally or alternatively include one ormore of the following features: the cross-sectional shape of the firstportion may be circular and the cross-sectional shape of the secondportion may be ovular, the first portion may be positioned adjacent thedistal end and the second portion may be positioned adjacent theproximal end; the second portion may be positioned along the supportmember between two separate and distinct first portions; the lumen ofeach support member along the second portion may be sized so as toprevent the movable members received therethrough from rotating aboutone another; each support member may be comprised of polyimide, PET, orcombinations thereof. a transition portion between the first portion andthe second portion of each of the support members; each of the at leastthree movable members may be configured to slide distally within one ormore of the at least three support members during transition of theretrieval device from the contracted state to the expanded state; eachsupport member may be parallel to a longitudinal axis of the sheathwhile the retrieval device is in the contracted state; each supportmember may be configured to bow radially outward from a longitudinalaxis of the sheath in the expanded state; the sheath may encompass atleast a portion of the movable members and at least a portion of thesupport members; a stop located at an end of at least one movable memberto restrict movement of the end after moving a distance distally; thestop may include a coupling securing ends of the at least three movablemembers together; each of the at least three movable members may includea U-shaped bend located distally of the distal ends of the at leastthree support members; and the U-shaped bend may be preformed and urgethe support members toward the contracted state.

In another example, a retrieval device may include a sheath and at leastthree support members. Each of the support members may taper from afirst portion with a circular cross-sectional shape to a second portionwith a ovular cross-sectional shape. Additionally, each of the supportmembers may be movable between a contracted configuration extendingalong a longitudinal axis of the sheath in the contracted configuration,and an expanded configuration bowing radially outward from thelongitudinal axis of the sheath. The retrieval device may furtherinclude at least three movable members. Each movable member may form abridge between two different support members of the at least supportmembers.

The retrieval device may additionally or alternatively include one ormore of the following features: the first portion may be positionedadjacent a distal end of the support members and the second portion maypositioned adjacent a proximal end of the support members; the retrievaldevice may include three bridges formed by the at least three movablemembers, wherein the three bridges may form a distally-facing loop whenthe support members are in the expanded configuration; and each bridgemay form a side loop with the two support members that the bridge isbetween.

In another example, a method for retrieving an object using a retrievaldevice is disclosed. The retrieval device may include a sheath and atleast three support members. Each of the at least three support membersmay have a varied cross-sectional shape along a length of the supportmembers, a proximal end fixed to the sheath, a distal end movablerelative to the sheath, and at least three movable members movablerelative to the support members. Each movable member may extend througha lumen of one support member of the at least three support members andthrough a lumen of a different support member of the at least threesupport members. The method may include moving the movable membersdistally to transition the retrieval device from a contracted state toan expanded state.

It is understood that both the foregoing general description and thefollowing detailed description are exemplary and explanatory only andare not restrictive of the disclosure, as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, illustrate examples of the presentdisclosure and together with the description, serve to explain theprinciples of the disclosure.

FIG. 1 is a full view of a retrieval device in an extended and expandedstate.

FIG. 2 is a perspective view of a distal end of the retrieval device ofFIG. 1.

FIG. 3 is a perspective view of the distal end of the retrieval deviceof FIG. 1 in a retracted state, in accordance with examples of thepresent disclosure.

FIG. 4 is a distal end view of the retrieval device of FIG. 1, inaccordance with examples of the present disclosure.

FIG. 5 is a cross-sectional view of the retrieval device of FIG. 3 alongline 5-5, in accordance with examples of the present disclosure.

FIG. 6 is a side and partial view of the retrieval device of FIG. 1,including an end effector in a retracted and contracted state, inaccordance with examples of the present disclosure.

FIG. 7 is a perspective view of a support member of the retrieval deviceof FIG. 1.

FIG. 8 is a perspective view of a support member of a retrieval device,in accordance with another example of the present disclosure.

DETAILED DESCRIPTION

The present disclosure is drawn to retrieval devices and related systemsand methods. Reference will now be made in detail to examples of thepresent disclosure, examples of which are illustrated in theaccompanying drawings. Wherever possible, the same reference numberswill be used throughout the drawings to refer to the same or like parts.The term “distal” refers to a location farther away from a user whenintroducing a device into a patient. By contrast, the term “proximal”refers to a location closer to the user when placing the device into thepatient.

EXAMPLES

FIG. 1 shows a full retrieval device 10, and FIGS. 2-6 show variousportions of the retrieval device 10. Referring to FIG. 1, the retrievaldevice 10 may include a basket portion or grasper portion 52 including aplurality of movable members 18, 20, and 22, and a plurality of supportmembers 26, 28, and 30. A proximal end 66, 68, and 70 of the supportmembers 26, 28, and 30, respectively may be coupled to an outer sheath12 and a handle assembly 90 while distal ends 76, 78, and 80 extenddistally thereof. The handle assembly 90 may be disposed at a proximalend 86 of the retrieval device 10. The movable members 18, 20, and 22may be coupled to the handle assembly 90 and extend through the supportmembers 26, 28, and 30 and the outer sheath 12. As explained in moredetail below, movement of an actuator 92 of the handle assembly 90 maycause relative movement between the movable members 18, 20, and 22, andthe support members 26, 28, and 30 so as to transition the grasperportion 52 between an expanded state (FIGS. 1 and 2) and a contractedstate (FIGS. 3-6).

Referring to FIGS. 3-6, the outer sheath 12 of retrieval device 10 mayinclude a lumen 14 extending longitudinally therethrough. The outersheath 12 may be, for example, a hollow tube of about 1.7-1.9 French,although the dimensions may differ based on the type of procedure beingperformed with the retrieval device 10. In another example, the outersheath 12 may be a hollow tube of about 1.7 to 1.9 French. As usedherein, the terms “about,” “substantially,” and “approximately,”indicates a range of values within +/−5% of the stated value. The outersheath 12 may be made of a polymer material or combination of materials.A proximal portion of the outer sheath 12 may be made of a differentmaterial than a distal portion of the outer sheath 12. For example, thedistal portion of the outer sheath 12 may be made of a material that ismore flexible than the material of the proximal portion of the outersheath 12.

The retrieval device 10 may also include a drive member or shaft 16. Thedrive member 16 may extend through the lumen 14 of the outer sheath 12.The drive member 16 may be elongated, and may include, for example, awire, braid, cable, shaft, and/or any other suitable drive memberconfigured to receive or transfer compression, tension, and/or torsionalforces. The drive member 16 may have any suitable cross-sectional shape,including cylindrical, elliptical, polygonal, and/or irregular. Thedrive member 16 may be made of metals, polymers, or a combination ofmaterials. It is also contemplated that the drive member 16 may have adiameter of approximately 0.0125 inches (0.03175 centimeters). The drivemember 16 may have other diameters, however, depending on the type ofprocedure being performed with the retrieval device 10.

The movable members of retrieval device 10 may include a first movablemember 18, a second movable member 20, and a third movable member 22.The first movable member 18 may include a first leg 18 a, a reverse orU-shaped bend 18 b, and a second leg 18 c. Similarly, the second movablemember 20 may include a first leg 20 a, a reverse or U-shaped bend 20 b,and a second leg 20 c. The third movable member 22 may also include afirst leg 22 a, a reverse or U-shaped bend 22 b, and a second leg 22 c.While three movable members 18, 20, and 22 are shown, one or moreadditional movable members may also be included. The bends 18 b, 20 b,and 22 b may be disposed between respective first and second legs 18 aand 18 c, 20 a and 20 c, and 22 a and 22 c, respectively.

Each of the movable members 18, 20, and 22 may be formed of any suitablematerial including, but not limited to, metals, polymers, or acombination of materials. For example, one or more of the movablemembers 18, 20, and 22 may be formed of a shape memory material, such asNitinol, and may be treated so as to include an internal bias causingone or more of the movable members 18, 20, and 22 to move to apreselected position in the absence of an urging force. For example, theU-shaped bends 18 b, 20 b, 22 b of the movable members 18, 20, and 22may be preformed such as by heat setting into the U-shaped bend shape.This preformed U-shaped bend 18 b, 20 b, 22 b may facilitate a clampingof the distal ends of the support members together in the contractedstate (FIGS. 3-6). One or more of the movable members 18, 20, and 22 maybe a wire, braid, cable, or shaft having any suitable diameter, such asa diameter of about 0.003 inches (0.00762 centimeters), although othersuitable diameters may alternatively be utilized.

Each of the movable members 18, 20, and 22 may have any suitablecross-sectional shape, including cylindrical, elliptical, polygonal,and/or irregular. One or more of the movable members 18, 20, and 22 mayinclude a portion flattened, machined, extruded, drawn, and/or etchedinto a different profile than a remaining portion. One or more of themovable members 18, 20, and 22 may be slotted to allow deflection ordirectional bending. The exterior surfaces of one or more of the movablemembers 18, 20, and 22 may be roughened, notched, slotted, etched,sand-blasted, or otherwise modified to provide a better grippingsurface.

The movable members 18, 20, and 22 may be attached to the drive member16 at a first end. For example, proximal ends of the first legs 18 a, 20a, and 22 a may be attached to the distal end of the drive member 16.The attachment may be provided by one or more of a splice joint,adhesives, melting, welding, crimping, and/or any other suitableattachment mechanism. It is also contemplated that a sleeve 24 may beplaced over the proximal portions of the first legs 18 a, 20 a, and 22a, and the distal portion of the drive member 16 to secure the elementstogether. The sleeve 24 may be made of a polytetrafluoroethylene likeTEFLON. The sleeve 24 may be heat shrinkable onto the first legs 18 a,20 a, and 22 a, and the drive member 16. The sleeve 24 may have a lengthof about 11.5 centimeters, but it should be understood that the lengthand other sleeve dimensions may vary based on the type of procedurebeing performed with the retrieval device 10. The sleeve 24 may helpgather the first legs 18 a, 20 a, and 22 a, to avoid radially outwardmovement of the legs when pushed distally by the drive member 16, givingthe gathered portions added strength. The proximal portions of each ofthe first legs 18 a, 20 a, and 22 a may contact the proximal portions ofthe other first legs. Longitudinal axes of the proximal portions of thefirst legs 18 a, 20 a, and 22 a may be substantially parallel.

The support members of the retrieval device 10 may include a firstsupport member 26, a second support member 28, and a third supportmember 30. Each of the support members 26, 28, and 30 may have a variedcross-sectional size and/or shape. That is, for example, one or moreportions of the support members 26, 28, and 30 may be flattened. Forexample, as shown in FIG. 3, a first portion 26 a of the first supportmember 26 may have a circular cross-sectional shape, while a secondportion 26 b of the first support member 26 may have an ovular,figure-8, and/or flattened cross-sectional shape. Similarly, a firstportion 28 a of the second support member 28 may have a circularcross-sectional shape, while a second portion 28 b of the second supportmember 28 may have an ovular, figure-8, and/or flattened cross-sectionalshape. Further, a first portion 30 a (FIG. 2) of the third supportmember 30 may have a circular cross-sectional shape, while a secondportion 30 b of the third support member 30 may have an ovular,figure-8, and/or flattened cross-sectional shape. A transition or taperportion 26 c, 28 c, and 30 c may be positioned between respective firstand second portions 26 a, 26 b, 28 a, 28 b, 30 a, and 30 b as shown inFIG. 3. Alternatively, the cross-sectional shape of each of the firstand second portions 26 a, 26 b, 28 a, 28 b, 30 a, and 30 b may becircular, and each of the first portions 26 a, 28 a, and 30 a may belarger than a respective second portion 26 b, 28 b, and 30 b, as will bediscussed in further detail below. As shown in FIGS. 2, 3, and 6, a partof each of the second portions 26 b, 28 b, and 30 b are configured to bereceived within outer sheath 12, while first portions 26 a, 28 a, and 30a extend distally of the second portions 26 b, 28 b, and 30 b.

Each of the support members 26, 28, and 30 may be comprised of anyappropriate material, such as, for example, polyimide, PET, andcombinations thereof. An inner diameter of each of the first portions 26a, 28 a, and 30 a, of each of the support members 26, 28, and 30, may beabout 0.0065 inches (0.1651 mm) and include a wall thickness of about0.0015 inches (0.0381 mm). Further, upon flattening, each of the secondportions 26 b, 28 b, and 30 b of each of the support members 26, 28, and30 may be sized to tightly (e.g., snugly, closely, etc.) receive aportion of at least two moveable members 18, 20, and 22, each having adiameter of about 0.0031 inches (0.0787 mm) or less, therein and may beabout 0.75 inches (19 mm) in length. As such, the at least two moveablemembers 18, 20, and/or 22 may have a reduced number of degrees offreedom in the second portions 26 b, 28 b, and 30 b. For example, secondportion 26 b of support member 26 may be configured to receive a portionof moveable members 18 and 22, as shown in FIG. 4. Accordingly, theportion of moveable member 18 received within second portion 26 b ofsupport member 26 may be limited to axial movement along, or rotationalmovement about a central longitudinal axis (not shown) of moveablemember 18. Additionally, the portion of moveable member 22 receivedwithin second portion 26 b of support member 26 may be limited to axialmovement along, or rotational movement about a central longitudinal axisof moveable member 22. That is, due to the flattening of the secondportion 26 b of support member 26, the portions of the moveable members18 and 22 received within the second portion 26 b may be prevented fromtwisting about and/or rotating about one another.

Flattening of the second portions 26 b, 28 b, and 30 b may be donethrough any appropriate means such as, for example, compressing,rolling, heat reflowing, extruding, joining and/or combinations thereof.For example, each of the second portions 26 b, 28 b, and 30 b, of eachof the support members 26, 28, and 30, may be compressed against amandrel individually and/or simultaneously so as to alter the crosssectional shape of the second portions 26 b, 28 b, and 30 b to an ovularcross-section shape as shown in FIGS. 2, 3 and 7. It is noted, thatwhile each of the second portions 26 b, 28 b, and 30 b have beendescribed herein as ovular, the disclosure is not so limited. Rather,the second portions 26 b, 28 b, and 30 b may be altered to have anyappropriate cross-sectional shape configured to prevent the moveablemembers 18, 20, and 22 from twisting about and/or rotating about oneanother. For example, in some embodiments, the second portions 26 b, 28b, and 30 b may include the same cross-sectional shape as the firstportions 26 a, 28 a, and 30 a, but having a smaller diameter. That is,each of the first portions 26 a, 28 a, and 30 a and the second portions26 b, 28 b, and 30 b may have a circular cross-sectional shape. However,a diameter of the each of the first portions 26 a, 28 a, and 30 a may belarger than a diameter of the a respective second portion 26 b, 28 b,and 30 b.

Further, the second portions 26 b, 28 b, and 30 b of the support members26, 28, and 30 may each be positioned along a proximal portion, adjacentproximal ends 66, 68, and 70, respectively, of the support members whilefirst portions 26 a, 28 a, and 30 a of the support members 26, 28, and30 are positioned along a distal portion, adjacent distal ends 76, 78,and 80, respectively, of the support member 26, 28, and 30, as shown inFIGS. 2, 3, 5, and 7. However, the disclosure is not so limited. Rather,second portions 26 b, 28 b, and 30 b of the support members 26, 28, and30 may be positioned at any location along the length of support member26, 28, and 30. For example, as shown in FIG. 8, a central portion ofeach of the support member 26, 28, and 30, may be flattened such thatthe second portions 26 b, 28 b, and 30 b of the support members 26, 28,and 30 may be positioned between distal and proximal first portions 26a, 28 a, and 30 a of the support members as shown in FIG. 8.Alternatively, the entire length of the support members 26, 28, and 30,from a proximal-most end to a distal-most end of the support members 26,28, and 30 may be flattened (not shown). Alternatively, in someexamples, multiple portions of one or more of the support members 26,28, and 30, may be flattened such that each support member includes twoor more second portions. Additionally, it is noted that the placementand/or number of second portions of at least one of the support members26, 28, and 30 may be different than the placement and/or number ofsecond portions of at least one other of the support members 26, 28, and30

The support members 26, 28, and 30 may be disposed circumferentiallyabout the longitudinal axis of the outer sheath 12, as shown in FIGS.1-5. The longitudinal axes of the support members may be disposed atequal intervals circumferentially about the longitudinal axis. It shouldbe noted, however, that any other suitable number of support members andspacing configurations may alternatively be utilized. As shown in FIGS.3-6, each of the movable members 18, 20, and 22 may extend distally froma first, proximal end thereof that is coupled to the drive member 16,extend distally through a support member 26, 28, and 30, along the firstleg 18 a, 20 a, and 22 a, form the preformed U-shaped bend 18 b, 20 b,and 22 b, and extend proximally through a different support member 26,28, and 30 along the second leg 18 c, 20 c, and 22 c. In thisconfiguration, the preformed U-shaped bend may confine or urge thesupport members 26, 28, and 30 toward a low profile in the contractedstate.

The movable members 18, 20, and 22, and the support members 26, 28, and30, may be heat treated simultaneously, and the material for the movablemembers 18, 20, and 22 and the support members 26, 28, and 30 may beselected such that the support members 26, 28, and 30 will not meltduring heat treatment of the movable members 18, 20, and 22. While threesupport members 26, 28, and 30 are shown, for example, in FIGS. 1, 2,and 4, one or more additional support members may be used.

As shown in FIG. 6, proximal portions of the support members 26, 28, and30 may extend through the lumen 14, and may be covered by the outersheath 12. For example, a length of about 10 millimeters of one or moreof the support members 26, 28, and 30 may be covered by the outer sheath12, leaving a length of about 9.5 millimeters exposed distal to theouter sheath 12. Distal portions of the support members 26, 28, and 30may extend distally out of the lumen 14 and away from the distal end ofthe outer sheath 12. The distal portions may be configured to movetowards and away from the longitudinal axis of the outer sheath 12. Thenumber of support members 26, 28, and 30 may be equal to the number ofmovable members 18, 20, and 22. Alternatively, the number of supportmembers 26, 28, and 30 may be less than the movable members 18, 20, and22.

Each of the three support members 26, 28, and 30 may be coupled to theouter sheath 12 via an adhesive 13, such as an ultraviolet light curableadhesive or cyanoacrylate. Additionally or alternatively, the distal endof the outer sheath 12 may be fixedly coupled to the proximal ends ofthe support members 26, 28, and 30 by heat shrinking or by using acoupling tube glued at both ends. The coupling may keep the proximalends of the support members 26, 28, and 30 stationary relative to thedistal end of outer sheath 12, while allowing the distal ends of thesupport members 26, 28, and 30 to move relative to the distal end of theouter sheath 12 and relative to one another.

The first leg 18 a may extend distally from the drive member 16, and mayenter a lumen at the proximal end of the support member 26. The firstleg 18 a may extend distally through the lumen of the support member 26,and may exit the distal end of the support member 26. There, the firstleg 18 a may transition into the bend 18 b. The bend 18 b may transitioninto the second leg 18 c. The second leg 18 c may enter a lumen at thedistal end of the second support member 28. The second leg 18 c mayextend proximally through a lumen of the second support member 28, andmay exit the proximal end of the support member 28.

The first leg 20 a may extend distally from the drive member 16, and mayenter the lumen at the proximal end of the second support member 28. Thefirst leg 20 a may extend distally through the support member 28, andmay exit the distal end of the support member 28. There, the first leg20 a may transition into the bend 20 b. The bend 20 b may transitioninto the second leg 20 c. The second leg 20 c may enter a lumen at thedistal end of the third support member 30. The second leg 20 c mayextend proximally through the third support member 30, and may exit theproximal end of the third support member 30.

The first leg 22 a may extend distally from the drive member 16, and mayenter the lumen at the proximal end of the third support member 30. Thefirst leg 22 a may extend distally through the third support member 30,and may exit the distal end of the third support member 30. There, thefirst leg 22 a may transition into the bend 22 b. The bend 22 b maytransition into the second leg 22 c. The second leg 22 c may enter thelumen at the distal end of the first support member 26. The second leg22 c may extend proximally through the first support member 26, and mayexit the proximal end of the first support member 26.

One or more of the proximal or second ends of the second legs 18 c, 20c, and 22 c may include a movable stop sized to abut or engage aproximal end of a support member 26, 28, and 30 after moving a distance47 distally during movement of the retrieval device toward the expandedstate. The movable stop may be formed in a number of different ways. Anexemplary movable stop is shown in FIGS. 4 and 6, and includes a coupler46 in the form of a tube including a lumen 48 configured to receiveproximal ends of the second legs 18 c, 20 c, and 22 c. The second legs18 c, 20 c, and 22 c may be attached to each other within the coupler 46and attached to the coupler 46. For example, each of the second legs 18c, 20 c, and 22 c may be attached to each other and the coupler 46 byadhesive, melting, welding, crimping, friction fit, heat-shrinking thecoupler 46, and/or any other suitable form of attachment. Portions ofthe first legs 18 a, 20 a, and 22 a may extend along the side of thecoupler 46, and may contact the exterior surface of the coupler 46. Thecoupler 46 may space portions of the first legs 18 a, 20 a, and 22 aapart from the longitudinal axis of the outer sheath 12, to help guidethe first legs 18 a, 20 a, and 22 a into the support members 26, 28, and30 (via first tubes 26 a, 28 a, and 30 a, respectively).

Alternatively, the movable stop could be formed by replacing the twomovable members 18 and 20 with a single moveable member having aU-shaped bend replacing the proximal ends of the second legs 18 c and 20c. In this arrangement, the U-shaped bend could form the movable stop ofthe movable members against the proximal end of the support members 26,28, and 30 during a first phase of the expansion of the retrieval device10. Further, the second leg 22 c could be coupled to the U-shaped bendto limit its travel. Alternatively, proximal U-shaped or L-shaped hooks,or any other type of obstruction (not shown) could be provided on one,two, or all of the second legs 18 c, 20 c, and 22 c to form the movablestop for abutting or engaging the support members 26, 28, and 30 andlimiting movement of the second legs 18 c, 20 c, and 22 c to thedistance 47 during the first phase of expansion of the retrieval device10.

The movable members 18, 20, and 22, and the support members 26, 28, and30, may form an end effector 50. The end effector 50 may together formthe basket or grasper portion 52. In FIGS. 3-6, the grasper portion 52is shown in the retracted and contracted state. The grasper portion 52may be moved into its retracted and contracted state by moving the drivemember 16 proximally relative to the outer sheath 12, or moving theouter sheath 12 distally relative to the drive member 16. Reference tosupport members 26, 28, 30 being moveable, refers to the relativemovement of members 26, 28, 30 in relation to other elements of theretrieval device 10, and thus it is understood that the term “movable”includes the support members being axially stationary during movementbetween the contracted and expanded states, but movable radially inrelation to outer sheath 12 during movement between the contracted andexpanded states. In the retracted/contracted state, the bends 18 b, 20b, and 22 b may be at or adjacent to the distal ends of the supportmembers 26, 28, and 30. The longitudinal axes of the support members 26,28, and 30 may be substantially parallel, and distal portions of each ofthe support members 26, 28, and 30 may be in contact with the othersupport members. Portions of the first legs 18 a, 20 a, and 22 a and thesecond legs 18 c, 20 c, and 22 c in the lumens of respective supportmembers 26, 28, and 30 may be substantially parallel to one another. Thesupport members 26, 28, and 30, and/or the outer sheath 12 may help toresist bowing of the movable members 18, 20, and 22 during movement ofthe device between the expanded and contracted states.

In the retracted/contracted state, the distal end of the coupler 46 maybe spaced from the proximal ends of the support members 26, 28, and 30by a distance 47. The distance 47 may be about 1 millimeter, althoughother distances may also be used. The proximal end of the coupler 46 maybe spaced from the distal end of the sleeve 24 by a distance 49. Thedistance 49 may be about 16 millimeters, although other distances mayalso be used. In another example, distance 49 may be about 11millimeters. Other distances 49 may position sleeve 24 in a moreproximal position relative to a flexible ureteroscope channel where theureteroscope scope does not deflect. This positioning may preventbinding of sleeve 24 within a curved portion of sheath 12. However, itis also contemplated that sleeve 24 may include one or more flexiblematerials. The distances 47 and 49 may vary based on the procedure beingperformed with the retrieval device 10.

In FIGS. 1 and 2, the retrieval device 10 is shown with the grasperportion 52 in an extended and expanded state. In the extended andexpanded state, portions of the movable members 18, 20, and 22 may beexposed from the distal ends of the support members 26, 28, and 30 andthe outer sheath 12. Once exposed, one or more of the movable members18, 20, and 22 may move radially outwardly from the longitudinal axis ofthe outer sheath 12 due to a natural and/or applied radially outwardbiasing in one or more of the movable members 18, 20, and 22. Radiallyoutward movement of one or more of the movable members 18, 20, and 22may cause a corresponding radially outward movement of the supportmembers 26, 28, and 30.

Referring to FIG. 2, the exposed portions of the movable members 18, 20,and 22 may form bridges 62, 64, and 66 between the distal ends of thesupport members 26, 28, and 30. Each bridge may extend distally from thedistal end of a given support member 26, 28, 30, and may be received inthe distal end of an adjacent support member 26, 28, 30. The bridges 62,64, and 66 may be formed by distal portions of the first legs 18 a, 20a, and 22 a, the bends 18 b, 20 b, and 22 b, and distal portions of thesecond legs 18 c, 20 c and 22 c.

Each bridge and its corresponding two support members may form a sideloop of the grasper portion 52. Three side loops 54, 56, and 58 areshown in FIG. 2. The bridges 62, 64, and 66 may form a front loop 60 ofthe grasper portion 52 (a front loop 60 facing distally). Materials mayenter the grasper portion 52 through one or more of the front loop 60and the side loops 54, 56, and 58. By adding additional movable membersand support members, additional side loops can be created.

Relative movement between drive member 16 and outer sheath 12 may causegrasper portion 52 to move to its extended and expanded state due to anatural and/or applied radially outward biasing in one or more of themovable members 18, 20, and 22. Extension and expansion of the grasperportion 52 may occur in phases. Starting from the retracted andcontracted state shown in FIG. 3, a first phase of the extension andexpansion of the grasper portion 52 may begin with movement of the drivemember 16 distally relative to the outer sheath 12 and the supportmembers 26, 28, and 30. The relative movement of the drive member 16 maycause the movable members 18, 20, and 22 and the coupler 46 to movedistally relative to the outer sheath 12. The movement of the drivemember 16, movable members 18, 20, and 22, and coupler 46 may betranslational. For example, the drive member 16, first legs 18 a, 20 a,and 22 a, bends 18 b, 20 b, and 22 b, second legs 18 c, 20 c, and 22 c,and coupler 46, may move distally relative to the outer sheath 12 andsupport members 26, 28, and 30 during the first phase. Proximal portionsof the first legs 18 a, 20 a, and 22 a and second legs 18 c, 20 c, and22 c may enter the lumens at the proximal end of support members 26, 28,and 30. Distal portions of the first legs 18 a, 20 a, and 22 a, bends 18b, 20 b, and 22 b, and second legs 18 c, 20 c, and 22 c may emerge from,or extend further out from, the distal ends of the support members 26,28, and 30.

The coupler 46 forming the movable stop moves with the movable members18, 20, and 22 relative to the outer sheath 12 and support members 26,28, and 30. When the coupler 46 has traveled the distance 47 relative tothe outer sheath 12 and support members 26, 28, and 30, further distalmovement of the coupler 46 may be halted as the coupler 46 approachesthe proximal ends of the support members 26, 28, and 30. This preventsthe second legs 18 c, 20 c, and 22 c from further entering the lumens ofsecond tubes 28 b, 30 b, and 26 b. At the end of the first phase ofextension and expansion, the bends 18 b, 20 b, and 22 b may each bespaced from distal ends of the support members 26, 28, and 30 by thedistance 47 because the U-shaped bends 18 b, 20 b, and 22 b are locateda fixed distance from the coupler 46.

The presence of distance 47 between the support members 26, 28, and 30,and the coupler 46 facilitates the reciprocal movement of retrievaldevice 10 between the contracted and expanded states. That is, thepresence of distance 47 reduces an initial amount of force required tomove retrieval device 10 from the contracted state toward the expandedstate. As described above, movable members 18, 20, and 22 may include apreset U-shape bend 18 b, 20 b, and 22 b that serves to help clamp thedistal end of the support members 26, 28, and 30 in the contractedstate. By extending the movable members 18, 20, and 22 the distance 47,the clamping resistance of the U-shaped bends 18 b, 20 b, and 22 b onthe distal ends of the support members 26, 28, and 30 may be reduced.Moreover, movement of the movable members 18, 20, and 22 away from thedistal end of the support members 26, 28, and 30 may provide a greatermoment arm to overcome the bias of the U-shaped bends 18 b, 20 b, and 22b when moving the retrieval device 10 toward the expanded state.

The presence of distance 47 may also permit retrieval device 10 to forma first stage grasper by the portion of the movable members 18, 20, and22 extending distally of the support members 26, 28, and 30. This firststage grasper can capture smaller fragments within only the portion ofmovable members 18, 20, and 22 extending distally from support members26, 28, and 30 after movement of the distance 47. The distal ends ofmovable members 18, 20, and 22 may more securely capture smallerfragments than support members 26, 28, and 30 because they include amore distributed contact array or wire web than the support members 26,28, and 30. It is noted that during the first phase movement of themovable members 18, 20, and 22, the support members extend generallyparallel to one another. As understood, the word “generally” as usedherein means mainly, and if more specificity is required, means a rangeof plus or minus eight percent of the relevant value.

A second phase of the extension and expansion of the grasper portion 52may begin after distal movement of the coupler 46 has been halted.During the second phase, further distal movement of the drive member 16relative to the outer sheath 12 and support members 26, 28, and 30 maydrive distal movement of the first legs 18 a, 20 a, and 22 a relative tothe outer sheath 12 and support members 26, 28, and 30. During thesecond phase, the second legs 18 c, 20 c, and 22 c may remain stationaryrelative to the support members 26, 28, and 30. The first legs 18 a, 20a, and 22 a may be increasingly exposed from the distal ends of thesupport members 26, 28, and 30, thereby increasing the lengths of thebridges 62, 64, and 66. Distal portions of the movable members 18, 20,and 22, and the support members 26, 28, and 30, may expand radiallyoutwardly. The front loop 60 and the side loops 54, 56, and 58 may alsoexpand in size.

Extension and expansion in the second phase may continue over thedistance 49. Once the first legs 18 a, 20 a, and 22 a have traveled thedistance 49, distal movement of the drive member 16 may halt. Distalmovement of the drive member 16 may be halted, for example, by a stopformed in the handle assembly shown in FIG. 1.

Moving the grasper portion 52 back to the retracted and contracted statemay be accomplished by moving the drive member 16 proximally relative tothe outer sheath 12 and support members 26, 28, and 30. Movement fromthe extended and expanded state to the retracted and contracted statemay also occur in phases. A first phase of the retraction andcontraction of the grasper portion 52 may begin with the drive member 16moving proximally relative to the outer sheath 12. This may cause thefirst legs 18 a, 20 a, and 22 a to move proximally relative to the outersheath 12 and support members 26, 28, and 30. Distal portions of thefirst legs 18 a, 20 a, and 22 a may enter the lumens at the distal endsof the support members 26, 28, and 30. The second legs 18 c, 20 c, and22 c, and the coupler 46 may remain stationary relative to the supportmembers 26, 28, and 30. The lengths of the bridges 62, 64, and 66 maydecrease. The first legs 18 a, 20 a, and 22 a, second legs 18 c, 20 c,and 22 c, and support members 26, 28, and 30 may move radially inwardly.Thus, the front loop 60 and the side loops 54, 56, and 58 may decreasein size.

The first phase of the retraction and contraction of the grasper portion52 may take place over the distance 49. Once the distance 49 has beencovered, a second phase of the retraction and contraction may take placewith continued movement of the drive member 16 proximally relative tothe outer sheath 12 and the support members 26, 28, and 30. Thecontinued movement may cause the movable members 18, 20, and 22 and thecoupler 46 to move distally relative to the outer sheath 12 and supportmembers 26, 28, and 30. The movement of the drive member 16, movablemembers 18, 20, and 22, and coupler 46 may be translational. Forexample, the drive member 16, first legs 18 a, 20 a, and 22 a, bends 18b, 20 b, and 22 b, second legs 18 c, 20 c, and 22 c, and coupler 46, maymove proximally relative to the outer sheath 12 and the support members26, 28, and 30 during the second phase. Distal portions of the firstlegs 18 a, 20 a, and 22 a may enter into, or move further past thedistal ends of the support members 26, 28, and 30, while the second legs18 c, 20 c, and 22 c may enter into, or move further past, the distalends of the support members 26, 28, and 30. The lengths of the bridges62, 64, and 66 may decrease as the exposed lengths of the movablemembers 18, 20, and 22 decrease. As the bridges 62, 64, and 66 shrink,distal portions of the movable members 18, 20, and 22, and the supportmembers 26, 28, and 30, may contract radially inwardly toward thelongitudinal axis of the outer sheath 22. The front loop 60 and sideloops 54, 56, and 58 may also shrink in size.

The coupler 46 may move with the movable members 18, 20, and 22 relativeto the outer sheath 12 and support members 26, 28, and 30. When thecoupler 46 has traveled the distance 47 relative to the outer sheath 12and support members 26, 28, and 30, further proximal movement of thecoupler 46 may be halted by operation of the handle assembly 90, such asa stop formed in the handle assembly 90 of FIG. 1. At the end of thesecond phase of retraction and contraction, the state shown in FIGS. 3-6is attained. As noted above, in this contracted state, movable members18, 20, and 22 may include preset U-shape bends 18 b, 20 b, and 22 blocated adjacent the distal ends of the support members 26, 28, and 30that serve to help clamp the distal end of the support members 26, 28,and 30 in the contracted state.

Referring back to FIG. 1, the handle assembly 90 may be disposed at theproximal end 86 of the retrieval device 10. Handle assembly 90 mayinclude the actuator 92 such as, e.g., a sliding mechanism, rotatingmechanism, pushing mechanism, or the like. Actuator 92 may be coupled toouter sheath 12 and include internal stops for limiting movement of theouter sheath 12 relative to the movable members 18, 20, and 22. Thedrive member 16 may be fixed to a proximal end of the handle assembly90. It is understood that the handle assembly may be formed in anyconventional manner to control the movement of movable members 18, 20,and 22 relative to the outer sheath 12 and support members 26, 28, and30 as described above. As noted above, handle assembly 90 may includeone or more internal or external stops to limit movement of the movablemembers 18, 20, and 22.

The disclosed retrieval devices may be utilized in any suitableapplication requiring the capture and removal of materials from thebody. Any aspect set forth in any example may be used with any otherexample set forth herein. The devices may be used in any suitablemedical procedure, may be advanced through any suitable body lumen andbody cavity, and may be used to remove material from any suitable bodyportion. For example, the devices described herein may be used throughany natural body lumen or tract, including those accessed orally,vaginally, rectally, nasally, urethrally, or through incisions in anysuitable tissue.

The disclosed devices may be configured to capture fragments havingdimensions of about 3 French or smaller. In some examples, the disclosedmedical devices may be able to capture and release smaller stones havingdiameters from 1 millimeter to 12 millimeters. In some examples, a usermay want to reposition larger stones from the lower calyx to the uppercalyx of the kidney to be broken with a laser before removing themthrough a small diameter of the ureter. The stones may be removed infront of a scope, as opposed to through scope channel to prevent damageto a scope channel. When stones are removed, both an endoscope and theretrieval device may be removed from the human body. In some examples, aguide sheath for a ureteroscope may be used to guide the ureteroscopeand retrieval device back to a previous position or to a new position tocapture additional stones, and protect a ureter wall during stoneremoval. While moving from the extended and expanded state to theretracted and contracted state, retrieval devices of the presentdisclosure may ligate larger stones and capture smaller stones withinthe grasper portion 52.

It will be apparent to those skilled in the art that variousmodifications and variations can be made in the disclosed systems andprocesses without departing from the scope of the disclosure. Forexample, the retrieval device disclosed could include more than threesupport members, such as four or five support members, and an equalnumber or less movable members. Other examples of the disclosure will beapparent to those skilled in the art from consideration of thespecification and practice of the features disclosed herein. It isintended that the specification and examples be considered as exemplaryonly.

We claim:
 1. A retrieval device having a contracted state and anexpanded state, comprising: a sheath; at least three support memberseach having a first portion with a first cross-sectional shape and asecond portion with a second cross-sectional shape different from thefirst cross-sectional shape, a proximal end fixed to the sheath, and adistal end movable relative to the sheath; and at least three movablemembers movable relative to the support members, each movable memberextending through a lumen of one support member of the at least threesupport members and through a lumen of a different support member of theat least three support members.
 2. The retrieval device of claim 1,wherein the first cross-sectional shape is circular and the secondcross-sectional shape is ovular.
 3. The retrieval device of claim 1,wherein the first portion is positioned adjacent the distal end and thesecond portion is positioned adjacent the proximal end.
 4. The retrievaldevice of claim 1, wherein the second portion is positioned along thesupport member between two separate and distinct first portions.
 5. Theretrieval device of claim 1, wherein the lumen of each support memberalong the second portion is sized so as to prevent the movable membersreceived therethrough from rotating about one another.
 6. The retrievaldevice of claim 1, wherein each support member is comprised ofpolyimide, PET, or combinations thereof.
 7. The retrieval device ofclaim 1, further including a transition portion between the firstportion and the second portion of each of the support members.
 8. Theretrieval device of claim 1, wherein each of the at least three movablemembers are configured to slide distally within one or more of the atleast three support members during transition of the retrieval devicefrom the contracted state to the expanded state.
 9. The retrieval deviceof claim 1, wherein each support member is parallel to a longitudinalaxis of the sheath while the retrieval device is in the contractedstate.
 10. The retrieval device of claim 1, wherein each support memberis configured to bow radially outward from a longitudinal axis of thesheath in the expanded state.
 11. The retrieval device of claim 1,wherein the sheath encompasses at least a portion of the movable membersand at least a portion of the support members.
 12. The retrieval deviceof claim 1, further including a stop located at an end of at least onemovable member to restrict movement of the end after moving a distancedistally.
 13. The retrieval device of claim 12, wherein the stopincludes a coupling securing ends of the at least three movable memberstogether.
 14. The retrieval device of claim 1, wherein each of the atleast three movable members includes a U-shaped bend located distally ofthe distal ends of the at least three support members.
 15. The retrievaldevice of claim 14, wherein the U-shaped bend is preformed and urges thesupport members toward the contracted state.
 16. A retrieval device,comprising: a sheath; at least three support members each tapering froma first portion with a circular cross-sectional shape to a secondportion with a ovular cross-sectional shape, wherein each of the supportmembers is movable between a contracted configuration extending along alongitudinal axis of the sheath in the contracted configuration, and anexpanded configuration bowing radially outward from the longitudinalaxis of the sheath; and at least three movable members, each movablemember forming a bridge between two different support members of the atleast three support members.
 17. The retrieval device of claim 16,wherein the first portion is positioned adjacent a distal end of thesupport members and the second portion is positioned adjacent a proximalend of the support members.
 18. The retrieval device of claim 16,wherein the retrieval device includes three bridges formed by the atleast three movable members, wherein the three bridges form adistally-facing loop when the support members are in the expandedconfiguration.
 19. The retrieval device of claim 16, wherein each bridgeforms a side loop with the two different support members that the bridgeis between.
 20. A method for retrieving an object using a retrievaldevice including a sheath, at least three support members each having avaried cross-sectional shape along a length of the support members, aproximal end fixed to the sheath, and a distal end movable relative tothe sheath, and at least three movable members movable relative to thesupport members, each movable member extending through a lumen of onesupport member of the at least three support members and through a lumenof a different support member of the at least three support members, themethod comprising: moving the movable members distally to transition theretrieval device from a contracted state to an expanded state.